Strongly Suggested ROS2 Study
ROS2+Cognipilot Complexity
Fundamentally B3RB is designed as a Linux based ROS2 based robotic system with an attached real time control microcontroller. The default configuration uses Ubuntu Linux to run ROS2, as well as Zephyr RTOS + Cognipilot. Cognipilot provides the infrastructure in Zephyr to provide transparent and efficient communications to ROS2, Manage Sensors and Actuators in real time, and host the actual control system algorithms for the vehicle. The control algorithms themselves are developed externally, synthesized and then hosted by Cognipilot which is a key feature of Cognipilot Cerebri module. Control Algorithms can be simple or state of the art Model Predictive Control (MPC). Currently B3RB uses modern Lie group MPC theory. Any other supported Linux or RTOS software can also run, but above configuration is the default focus robotics enablement.
Suggested ROS2 study resources
ROS2 is an entire subject to study on it's own. In order to be successful in further development, it is strongly suggested you spend some time studying ROS2 fundamentals. There are many resources publicly available for this. Below are only a few.
ROS2 Fundamentals
Udemy or other types or courses provide "completion certificates" a few examples are:
NAV2 module in ROS2 training
To learn about how to run a the robots you will want to take:
Udemy ROS2 NAV2
https://www.udemy.com/share/107Tci/
The Construct - ROS2 NAV2 Navigation
https://www.theconstruct.ai/robotigniteacademy_learnros/ros-courses-library/ros2-navigation/
ROSCON
ROSCON is an highly reccommended in person conference and a great way to jumpstart your understanding of the latest development in ROS2. https://roscon.ros.org
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